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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-12 09:22:07 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-12 09:22:07 +0200 |
| commit | 3779e216be53540eb9d2e9470ba4077d5d33d534 (patch) | |
| tree | 38b8192b88602a92a4d7a763cdb20e12c8620493 /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | cde4c9addbe2e8ccd782c53daf519fcf9669626a (diff) | |
| download | px4-firmware-3779e216be53540eb9d2e9470ba4077d5d33d534.tar.gz px4-firmware-3779e216be53540eb9d2e9470ba4077d5d33d534.tar.bz2 px4-firmware-3779e216be53540eb9d2e9470ba4077d5d33d534.zip | |
fw att control: use new manual control setpoint variable names
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 5276b1c13..5c83f85a1 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -717,9 +717,9 @@ FixedwingAttitudeControl::task_main() * the intended attitude setpoint. Later, after the rate control step the * trim is added again to the control signal. */ - roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad; - pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; - throttle_sp = _manual.throttle; + roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad; + pitch_sp = (-_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; + throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; /* @@ -825,10 +825,10 @@ FixedwingAttitudeControl::task_main() } else { /* manual/direct control */ - _actuators.control[0] = _manual.roll; - _actuators.control[1] = -_manual.pitch; - _actuators.control[2] = _manual.yaw; - _actuators.control[3] = _manual.throttle; + _actuators.control[0] = _manual.y; + _actuators.control[1] = -_manual.x; + _actuators.control[2] = _manual.r; + _actuators.control[3] = _manual.z; _actuators.control[4] = _manual.flaps; } |